School of Chemical and Bio-Engineering

Addis Ababa Institute of Technology

Addis Ababa University

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 Feedforward Control: Introduction
• Feedforward controllers (FFC) are applied to processes
that are significantly affected by disturbances that are
measurable (or can be estimated) on-line.

• The basic concept of FFC is to measure large and

frequent disturbances and take corrective action before
they upset the process.

• Therefore feedforward control requires that the

disturbances must be measured (or estimated) on-line.

• FFC is used when large and frequent disturbances affect

the controlled variable, especially in a slow process.
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 Feedforward Control: Introduction
• Since only the measured disturbances are addressed
by FFC unmeasured disturbance may still have
significant impact on overall control performance.

• FFC is never used alone. It is used to together with

feedback control.

• A feedforward controller requires process transfe

functions (Gp) and load transfer functions (Gd), and
its performance very much depends on the accuracy
of the models.
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 Feedforward Control: Introduction
DV
FBC
- Measure CV and take corrective
MV CV
Process action
- Corrective action is taken after
disturbance causes a
Measure measureable change in CV
FBC
ment

Figure 3.1 Feedback control system FFC

- Measure DV and take corrective
Measur DV action
FFC
ement - Corrective action is taken before
disturbance affects CV
MV Process CV

Figure 3.2 Feedforward control system

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Example 1: Boiler Drum Level Control
Steam to Control Objective: To maintain
users
the water level in the boiler drum
at a desired level.

Boiler Disturbance: Changes in steam

drum demand. It causes changes in drum
Make-up water level.
water

Hot gas

Figure 3.3 Boiler with variable steam use

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Example 1: Boiler Drum Level Control
LT FT
Steam to Steam to
users users

LC FFC

Boiler Boiler
drum drum
Make-up Make-up
water water

Hot gas
Hot gas

Figure 3.4 (a) Feedback control system Figure 3.4 (b) Feedforward control system

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Example 1: Boiler Drum Level Control
FT
Steam to
users
LT

FFC LC

+ +

Boiler
drum
Make-up
water

Hot gas

Figure 3.5 Boiler drum level control with Feedback and Feedforward together

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Example 2: Blending Tank Composition Control
Control objective: To
maintain the mass fraction at
the outlet at a desired level.

Major Disturbance: The flow

rate of stream 1. It varies
frequently and significantly.

Figure 3.6 Boiler drum level control with Feedback and Feedforward control

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Example 2: Blending Tank Composition Control

Figure 3.7 Boiler drum level feedforward control

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Example 2: Blending Tank Composition Control

Figure 3.8 Boiler drum level Feedback - Feedforward control

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Example 2: Design of Feedforward Controller

Figure 3.9 Block diagram of feedback-feedforward control system

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 Design of Feedforward Controller
To eliminate the effect of disturbance

𝐷𝐺𝑡 𝐺𝑓 𝐺𝑣 𝐺𝑝 + 𝐷𝐺𝑑 = 0

Rearranging and solving for 𝐺𝑓

𝐺𝑑
𝐺𝑓 = −
𝐺𝑡 𝐺𝑣 𝐺𝑝

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 Design of Feedforward Controller
Example 3.1
The transfer functions of a process and relevant
instruments are given below design a feedforward
controller.

𝐾𝑑 𝐾𝑝
𝐺𝑣 = 𝐾𝑣 𝐺𝑡 = 𝐾𝑡 𝐺𝑑 = 𝐺𝑝 =
𝜏𝑑 𝑠+1 𝜏𝑝 𝑠+1
Solution
𝐾𝑑 𝜏𝑝 𝑠 + 1
𝐺𝑓 = −
𝐾𝑡 𝐾𝑣 𝐾𝑝 𝜏𝑑 𝑠 + 1

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 Design of Feedforward Controller
Example 2 (Physically Unrealizable Controllers)
Design feedforward controller with the transfer
functions given below.

2 4
𝐺𝑣 = 0.2 𝐺𝑡 = 1 𝐺𝑑 = 𝐺𝑝 =
5𝑠+1 (2𝑠+1)(𝑠+1)

2 (2𝑠 + 1)(𝑠 + 1)
𝐺𝑓 = −
0.2 × 4 (3𝑠 + 1)

(2𝑠 + 1)(𝑠 + 1)
𝐺𝑓 =− −2.5 Is this controller physically realizable?
(5𝑠 + 1)

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 Design of Feedforward Controller
Example 3 (Physically Unrealizable Controllers)
Design feedforward controller with the transfer
functions given below.
Solution
2𝑒 −1.2𝑠 4𝑒 −2.5𝑠
𝐺𝑣 = 0.2 𝐺𝑡 = 1 𝐺𝑑 = 𝐺𝑝 =
5𝑠+1 (3𝑠+1)

2 (3𝑠 + 1)𝑒 1.3𝑠

𝐺𝑓 = −
0.2 × 4 (5𝑠 + 1)

(3𝑠 + 1)𝑒1.3𝑠
𝐺𝑓 = −2.5 Is this controller physically realizable?
(5𝑠 + 1)

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 Lead –Lag Controller
• When the designed FFC is physically unrealizable we
can use the following rule to get approximate
lead-lag FFC.

– Add time constants and negative time delays to the lead

time.

• Applying the above rule Example 2 and 3 are solved

in the next page.

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 Lead-lag controller
Example 4
Redo example 2 and 3 to get approximate lead-lag FFC.

2𝑠 + 1 𝑠 + 1 3𝑠 + 1
(2) 𝐺𝑓 = −2.5
5𝑠 + 1
= −2.5
5𝑠 + 1

3𝑠 + 1 𝑒 1.3𝑠 4.3𝑠 + 1
𝐺𝑓 = −2.5 = −2.5
(3) 5𝑠 + 1 5𝑠 + 1

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 Exercises
Exercise 1
The transfer functions of a process and relevant
instruments are given below. Design a feedorward
controller and compare the performance of a FB-FFC
with a simple FBC for regulator problem.

2𝑒 −1.5𝑠 4𝑒 −0.2𝑠
𝐺𝑣 = 0. 1 𝐺𝑡 = 1 𝐺𝑑 = 𝐺𝑝 =
5𝑠+1 2𝑠+1

Exercise 2
Compare the performance of a simple FBC with
FB-FFC Example 2 and 3 controller using MATLAB
simulation.
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